KR100698503B1 - A motor-controlling device using a microprocessor and a method therefor - Google Patents

Abstract

end. The technical field to which the invention described in the claims belongs.

The present invention relates to a servo drive and stepping motor drive control device which is inserted into an internal slot of a computer to output a pulse to control a motor and used to control a position by various input signals required for control. It can control the speed of forward / backward, acceleration / deceleration, and constant speed up to 6Mhz, and it is equipped with multi-axis synchronous interpolation function such as circle / circle / diagonal line / helical and several loading functions to be executed in the next operation mode. Of motor drive control device and method using a microprocessor that can implement a convenient and concise motor control by using a computer by implementing an integrated algorithm for control, acceleration / deceleration speed control, position control and multi-axis interpolation control. will be.

I. The technical problem to be solved by the invention.

In the conventional method using only the microprocessor, there is a problem of increasing the microprocessor performance according to the increase of the number of axes to be controlled, the complexity of the internal algorithm, the occurrence of error in the firmware, and especially the function change according to the customer's requirements. It is difficult to modify, add, etc. Also, in the conventional method, which consists only of hardware logic, the number of parts is increased, the complexity of wiring is increased, the unit cost is increased, the difficulty of shortening the development period, and the whole system board is newly designed when the function is changed And there is a problem to be produced.

All. Summary of the Solution of the Invention.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to use a part and an argument value for obtaining arguments and instructions for executing speed patterns, acceleration / deceleration patterns, pause patterns, etc. using a microprocessor. By separating and implementing roles into parts that perform the indicated operation, it is easy to change, upgrade, add, and modify internal firmware according to customer requirements, and to simplify hardware configuration, reduce cost, and shorten development period. The present invention provides a motor drive control device and a control method thereof.

la. Important uses of the invention

Industrial servo and stepping motor control.

Description

A motor-controlling device using a microprocessor and a method therefor}

1 is a configuration diagram showing a schematic system configuration of a motor drive control apparatus according to the present invention.

Figure 2 is a flow chart showing the flow of motor control through the control of the motion controller according to the present invention.

<Explanation of symbols for the main parts of the drawings>

5: address buffer 6: control buffer

7: Data buffer 8: Interrupt control unit

9: acceleration / deceleration control unit 10: acceleration / deceleration command unit

11: speed control unit 12: speed command unit

13: position control unit 14: position command unit

15: display processing unit 16: function processing unit

17: memory unit 18: protection function detection and processing unit

20: pulse width modulation generator 21: pulse driver

22: hardware control unit 23: position counter unit

24: encoder processing unit 25: input and output control unit

28: pulse motor driver 30: motor

100: interface unit 200: microprocessor unit

300: hardware logic part

The present invention relates to a servo drive and stepping motor drive control device which is inserted into an internal slot of a computer to output a pulse to control a motor and used to control a position by various input signals required for control. It can control the speed of forward / backward, acceleration / deceleration, and constant speed up to 6Mhz, and it is equipped with multi-axis synchronous interpolation function such as circle / circle / diagonal line / helical and several loading functions to be executed in the next operation mode. Of motor drive control device and method using a microprocessor that can implement a convenient and concise motor control by using a computer by implementing an integrated algorithm for control, acceleration / deceleration speed control, position control and multi-axis interpolation control. will be.

Conventionally, it is a method of controlling servo and stepping motors used in industrial equipment such as automation equipment, winding equipment, semiconductor manufacturing equipment, logistics transfer equipment, textile equipment, packaging equipment, etc. The microprocessor controls the motor by taking charge of all the performances necessary for control such as speed pattern, acceleration / deceleration pattern, and pause pattern, and the method of controlling the motor by configuring a circuit using only hardware logic without using the microprocessor. This has been used.

However, in the conventional method using only a microprocessor, there is a problem such as an increase in the number of axes to be controlled, an increase in microprocessor performance, an internal algorithm complexity, and a firmware error. There is a problem that it is difficult to change, modify, add, etc. accordingly.

In other words, in the method using only a microprocessor, firmware that has completed the function implementation conforming to the specified specification specification has to be modified in consideration of the overall framework when changing the function.

On the other hand, in the conventional method consisting of only the hardware logic, there is a problem that the design of the whole system board newly designed and manufactured when the number of parts, the complexity of wiring, the increase in unit cost, the difficulty of shortening the development period, the function change.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to use a part and an argument value for obtaining arguments and instructions for executing speed patterns, acceleration / deceleration patterns, pause patterns, etc. using a microprocessor. By separating and implementing roles into parts that perform the indicated operation, it is easy to change, upgrade, add, and modify internal firmware according to customer requirements, and to simplify hardware configuration, reduce cost, and shorten development period. The present invention provides a motor drive control device and a control method thereof.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, in describing each of the drawings, only the same components have the same reference numerals as much as possible even if shown on different drawings.

1 is a configuration diagram showing a schematic system configuration of a motor drive control apparatus according to the present invention.

Looking at the configuration and operation, first, the computer control unit is responsible for transmitting a command required for motor control to the motor drive control apparatus according to the present invention as part of executing the user's control program.

That is, the user decides operations such as linear motion, diagonal motion, circular motion, and helical function, and configures command parameters such as destination distance, maximum speed and acceleration / deceleration slope according to each motion, and configures the address bus (1) and data bus (3). ), The command is transmitted to the motor drive control device using the bus control signal (2).

At this time, the user should be able to take immediate action by monitoring and determining the status of the operation being executed in the motor drive control apparatus after transmitting the command, and the recognition of the alarm occurrence status during the operation may be performed by the function processor in the microprocessor unit 200. 16 periodically reads the input / output control unit 25 in the hardware logic unit 300 to immediately reflect the current state.

In order to take action such as stopping or resetting in case of alarm or emergency during operation, the user reads the current statuses in the processing unit 16 in the microprocessor unit 200 and determines and makes a corresponding decision and command. There is a number.

As described above, the motor drive control apparatus according to the present invention includes an interface unit 100 having a function of receiving various data signals for controlling the motor 30 from the computer control unit and transferring the control state of the motor back to the computer control unit. The microprocessor unit 200 obtains arguments and instructions for executing the speed pattern, acceleration / deceleration pattern, and pause pattern of the motor using the microprocessor, and the arguments and instructions obtained from the microprocessor unit 200. The hardware logic unit 300 performs an operation according to the above. First, the detailed configuration and operation of the interface unit 100 will be described.

The address buffer 5 receives an address from a computer and is used to designate a address for reading and writing each register allocated to the motor drive control apparatus.

The control buffer 6 is used for controlling the address bus and data bus designated by the computer, and the data buffer 7 is used for temporarily storing the motor control data received from the computer, and the interrupt control unit ( 8) is used for informing the computer of the situation according to the result processed by the microprocessor unit 200.

Next, the detailed configuration and operation of the microprocessor unit 200 will be described. The acceleration / deceleration control unit 9 controls the acceleration speed and the deceleration speed based on the acceleration / deceleration data input from the computer, and the motor 30 When driving the engine, it starts at a low speed at the beginning and gradually increases to the maximum speed so that the motor and the drive shaft are controlled so as not to overdo it.

The acceleration / deceleration data obtained by the acceleration / deceleration control unit 9 is transmitted to the acceleration / deceleration command unit 10 again. The acceleration / deceleration command unit 10 immediately receives the data to the hardware control unit 22 by using an internal bus. It is responsible for delivering commands.

The speed controller 11 is a part for controlling the motor to maintain the maximum speed in the constant speed section based on the maximum speed data received from the computer, and the motor is driven at the acceleration / deceleration gradient speed started by the acceleration / deceleration control unit 9. The speed data is transmitted to the speed command unit 12 so as to move at the highest speed in the constant speed section. The speed command unit 12 transmits the speed data to the hardware control unit 22 in the hardware logic unit 300. In charge of delivering

The position control unit 13 is a part for controlling the distance to the destination where the motor 30 moves. When the motor 30 moves at a predetermined speed, the position control unit 13 calculates the distance moved up to now and the distance to be moved forward. The position command unit 14 transmits the position data to the hardware control unit 22 in the hardware logic unit 300.

The function processor 16 stores the data processed in the microprocessor, that is, the speed data, the acceleration / deceleration data, the position data, and the like in its own register, and is currently storing the state and the result of the motor 30.

The display processing unit 15 outputs data stored in the function processing unit 16 to a separate communication port. The display processing unit 15 monitors a program error of the motor drive control apparatus itself or an operation state of the motor 30 according to the present invention. Through real-time output through it, it is possible to monitor and monitor the operation status from the outside.

The memory unit 17 includes a ROM and a RAM to program and store logic and a sequence related to performing an operation of the motor drive control apparatus.

The protection function detection and processing unit 18 is a circuit part for connecting an external sensor or an external switch, a relay, etc., and has a function of preventing noise and surge from flowing from the outside.

Looking at the configuration and function of the hardware logic unit 300 of the motor drive control device as follows.

The pulse width modulation generator 20 is a part that generates a pulse for driving the motor 30 and receives and executes a speed command from the hardware controller 22.

The pulse driving unit is responsible for converting the pulse transmitted from the pulse width modulation generator 20 into a voltage amplification and a drive type that the servo drive can recognize.

The hardware controller 22 receives the speed command, the position command, and the acceleration / deceleration command from the microprocessor unit 200 through the internal bus, and serves to drive the pulse width modulation generator 20.

The position counter unit 23 receives and stores the moving distance data, that is, the position command data, from the microprocessor unit 200 to the destination, and functions to transfer the position data to the hardware control unit 22.

The encoder processing unit 24 receives the encoder pulses output from the pulse motor driver 28 and has a function of counting the input number, and the counter value is transferred to the function processing unit 16 using the internal bus 27.

The input / output control unit 25 functions as a digital input signal input from the outside and a digital output signal for controlling external equipment. The input / output control unit 25 receives the external switch input signal and executes the motor stop. It is possible to turn on the external buzzer or warning light.

On the other hand, the pulse motor driver 28 is a driving device that receives the pulse signal output from the motor drive control device to move the motor 30, and receives the voltage from the pulse driver 21 through the pulse drive signal line to operate. Then, the encoder pulse is outputted to the encoder processing unit 24 of the motor drive control device again through the encoder input signal line.

In addition, the pulse motor driver 28 is to send a drive signal to a motor that is a device that provides power to move the device through the signal line pulse motor driver 28 output terminal.

The operation execution process of the motor drive control apparatus according to the present invention configured as described above is largely the first step of transmitting a command to the motor drive control device, the second step of the motor drive control device executing the command, the motor drive control device pulses The third step of outputting is explained as follows.

First, referring to the step of transmitting a command to the first motor drive control device, as shown in FIG. 1, the computer uses the address bus, the bus control signal, and the data bus of the computer to transfer the command to the motor drive control device. The command is transmitted to the hardware logic unit 300 of the motor drive control apparatus.

As a preparatory step for the computer to transmit the command to the motor-drive mechanism, it is necessary to determine the motion type command, ie whether it is a straight or interpolated motion and the axis selection according to the straight / interpolated motion. The maximum speed and acceleration / deceleration rate of movement are determined and the execution command data is transmitted to the motor drive controller.

The execution command data is loaded into the hardware control unit in the hardware logic unit 300 via an address buffer, a control buffer, and a data buffer using an address decoding method.

In particular, the hardware control unit 22 is an essential part of the hardware logic unit 300, unlike the conventional motor drive control device, the commands executed in the computer continuously accumulate by accepting a new command while the motor drive control device performs an operation. This allows you to shorten the execution time between commands.

That is, the conventional motor drive control device has a structure that can execute a new command after the end of one command, the delay time between the command and the command was not possible to implement a continuous operation, for example, bonding When used in the process of joining instruments using a solvent liquid, draws in one direction along a line (after joining), and then continues in a 90-degree direction. Since the command to draw in the new direction of the drawing is the second new command, the delay time for accepting the command and the delay time for decrypting and executing causes the liquid to swell and swell, resulting in a defect in the product.

In order to solve this problem, in the motor drive control apparatus according to the present invention, in order to eliminate the delay time between the command and the command, up to eight commands are mounted in advance so that eight commands can be executed in sequence due to one start instruction. As a result, the execution time of the final operation is continuously performed, and thus the productivity is improved in the final product production step.

The above characteristics make it possible to see a great effect even in the simple motion function. For example, it is assumed that only a command for drawing a circle once should be performed 100 times. Conventional motor drive control devices have a delay time once and then. Because of this, the product production time is increased as much as the total delay time after the final completion 100 times, but the motor drive control apparatus according to the present invention eliminates the delay time, the productivity due to faster production time in the final stage compared to the conventional You can get several times to ten times faster.

On the other hand, the status of the process of executing the command is output on the screen of the computer, should be able to control when an emergency occurs, which is the position counter 23 and the encoder processing unit 24, the hardware logic unit 300, The I / O control unit 25 and the registers of the hardware control unit are read from time to time to enable processing.

At this time, the computer can read the respective registers through the address bus 1, the bus control signal 2, and the data bus 3, and check the status and take action accordingly.

As such, the hardware logic unit 300 may reduce and simplify a conventionally implemented function by implementing only an encoder function capable of loading a command, outputting a pulse, and implementing feedback control.

Next, referring to the step of executing the command by the second motor drive control device, after the instruction to be loaded in the hardware control unit 22 in the hardware logic unit 300 is loaded in the first step in the microprocessor unit 200 Will process the command.

In order to execute the instructions, the microprocessor unit 200 must go through a process of reading and decoding accumulated instructions. The microprocessor unit 200 uses an internal bus connected to the hardware logic unit 300 as shown in FIG. 1. After reading the command of the hardware control unit 22 using the command, the command checks whether the syntax of the command is correct, and then classifies the command argument.

Factors of the command, that is, whether the linear motion or interpolation motion and the axis according to the straight / interpolation motion is determined and the final reach, the maximum speed of the motor 30, the acceleration and deceleration rate is recognized.

When the command argument recognition process is completed as described above, the microprocessor unit 200 stores the command argument data in the variable register assigned to each role therein. In this case, each role variable is stored in the speed command register of the speed controller 11. The speed data is stored, the target arrival distance pulse number is stored in the position command register of the position control unit 13, and the acceleration / deceleration ratio data is stored in the acceleration / deceleration command register of the acceleration / deceleration control unit 9.

The execution command factors check the pulse output start data of the hardware control unit 22 after the memory is completed in each register. If the start signal is indicated in the pulse output start data, the pulse width modulation generator 20 in the hardware logic unit 300 is executed. The data of each register is transferred by using the internal bus 19, and a command for instructing to generate a pulse is also transferred to the pulse output.

From this time, the pulse is generated by the pulse driving unit 21 and transferred to the pulse motor driver 28, thereby driving the motor 30.

The microprocessor unit 200 decodes a command and hands over data capable of outputting a pulse to the hardware logic unit 300, and then determines whether the hardware logic unit 300 executes normal operation and whether the next instruction is accumulated. It is confirmed continuously, the result of the check at this time is transmitted to the display processing unit 15 and the function processing unit 16 to confirm the results and status.

At this time, if the normal operation is not performed, even if the next command exists, execution of the command is waited and execution resumes after the current state is completed.

As described above, the microprocessor unit 200 does not include the pulse output unit, unlike the conventional apparatus, and is only suitable for performance improvement and multi-purpose function implementation by in charge of command transfer and status check functions, and is configured to easily modify, add, and delete operation functions. will be.

Next, referring to the step of outputting the pulse by the third motor drive control device, the final role of moving the motor 30 is performed in the pulse width modulation generator 20 of the hardware controller 22, the pulse width modulation The generator 20 generates a pulse according to a given acceleration / deceleration ratio and a given speed pattern to the final destination when the instruction to be executed in the microprocessor unit 200 passes the pulse driver 21 to the pulse driver 21. At 21, the pulse is transferred to the pulse motor driver 28 to move the motor.

At this time, while the pulse driver 21 outputs the pulse, the encoder processing unit 24 receives a pulse from the motor or the pulse motor driver 28 to continuously increase and decrease the counter. It is possible to continuously monitor whether the computer matches the number of pulses read and output.

When the motor 30 moves to the final destination, the pulse width modulation generator 20 no longer generates a pulse, and the hardware controller 22 changes its state register indicating that the pulse output has been completed. Determining whether to issue the next command command by changing the state register, the next operation is performed.

2 is a flow chart illustrating a flow of motor control through the control of a motion controller according to the present invention. Referring to FIG. 2, the detailed operation of the present invention will be described.

First, the motor drive control apparatus according to the present invention is mounted in a slot inside the computer and the computer is supplied with power to execute the control program when booting is completed. At this time, the computer reads various state values of the motor drive control apparatus. Displayed on the monitor screen (S201).

Next, the computer determines whether the user's keyboard input for executing the motor control (S202), and if there is a keyboard input to determine the control command according to the execution operation (S203), if there is no keyboard input again the above The process returns to step S201 to wait.

After the step S203, the control command according to the execution operation is input to the control register (S204), and it is determined whether the pulse output preparation of the motor drive control device is ready before the execution command (S205) and the pulse output preparation is normally completed. If so, the pulse output execution command is transmitted to the motor drive control device, from which the motor drive control device starts to output a pulse signal for controlling the motor (S206).

If the pulse output preparation is not normally completed in step S206, the process is terminated.

After the step (S206), the number of pulses and the state value output from the motor drive control device are displayed on the screen (S207), and it is determined whether or not the pulse stop signal is input during the execution operation (S208). When the signal is input, the motor drive control device stops the pulse generation (S210), after which the result when the pulse output is abnormally terminated on the screen (S211) is terminated.

If the pulse stop signal is not input as a result of the determination in step S208, it is determined whether the number of pulses to the destination and the number of pulses output up to the present match again (S209). If the number coincides with the number of pulses to the destination, the pulse output is completed by reaching the destination point. After that, the result is displayed on the screen (S211) to display the result when the pulse output is normally completed. And then exit.

On the other hand, if the number of pulses output so far does not coincide with the number of pulses to the destination as a result of the determination in step S209, the process returns to the step S207 again because it has not yet arrived at the arrival point.

As described above, according to the present invention, a combination of only the advantages of the method using the microprocessor and the method using the hardware logic is newly constructed, and a part for obtaining the arguments and instructions for executing the speed pattern, the acceleration / deceleration pattern, the pause pattern, and the like. By dividing and implementing roles into parts that perform the indicated action by using and argument values, it is easy to change, upgrade, add, and modify internal firmware according to customer's requirements, simplify hardware configuration, reduce cost, and develop The effect of shortening the period can be obtained.

In addition, multi-axis synchronous interpolation functions such as circle, arc, diagonal line, and helical, and multi-command loading function that can load several commands to be executed in the next operation mode in advance, maximize the user's functionality and convenience. Can be obtained.

Claims (10)

In the servo drive and stepping motor drive control device which is inserted into the internal slot of the computer to output a pulse to control the motor and to control the position by various input signals required for the control, An interface unit 100 having a function of receiving various data signals for controlling the motor 30 from a computer and transferring the control state of the motor 30 back to the computer,  A microprocessor unit 200 for obtaining arguments and instructions for executing the speed pattern, the acceleration / deceleration pattern, the pause pattern, etc. of the motor 30 using the microprocessor; Motor drive control device using a microprocessor, characterized in that it comprises a hardware logic unit for performing an operation in accordance with the arguments and instructions obtained from the microprocessor unit (200). The method of claim 1, The interface unit 100, An address buffer 5 for designating a address for receiving an address from a computer and reading and writing each register allocated to the motor drive control device; A control buffer 6 for controlling the address bus and data bus designated by the computer, A data buffer 7 for temporarily storing motor control data received from a computer, Motor control device using a microprocessor, characterized in that it comprises an interrupt control unit (8) for informing the computer of the situation according to the result processed in the microprocessor unit (200). The method of claim 1, The microprocessor unit 200, Acceleration and deceleration control unit 9 for controlling the acceleration and deceleration speed based on the acceleration and deceleration data input from the computer,  Acceleration and deceleration command unit 10 for transmitting a command to the hardware control unit 22 using the internal bus immediately after receiving the acceleration and deceleration data from the acceleration and deceleration control unit 9, A speed controller 11 for controlling the motor 30 to maintain the maximum speed in the constant velocity section based on the maximum speed data received from the computer, A speed command unit 12 for transmitting the speed data received from the speed controller 11 to the hardware controller 22 in the hardware logic unit 300; Position control unit 13 for controlling the distance to the destination to move the motor 30, A position command unit 14 for transmitting the position data received from the position control unit 13 to the hardware control unit 22 in the hardware logic unit 300; A function processor 16 for storing the speed data, the acceleration / deceleration data, and the position data processed by the microprocessor unit 200 in its own register and storing the current motor status and results; A display processor 15 for outputting data stored in the function processor 16 to a separate communication port; A memory unit 17 comprising a ROM and a RAM to program and store logic and a sequence related to the operation of the motor drive control apparatus; An external sensor, an external switch, and a circuit portion for connecting a relay, the motor drive control apparatus using a microprocessor, characterized in that it comprises a protection function detection and processing unit (18) to prevent noise and surge flowing from the outside. The method of claim 1, The hardware logic unit 300, A hardware control unit 22 which receives the speed command, the position command, and the acceleration / deceleration command from the microprocessor unit 200 through the internal bus to drive the pulse width modulation generator 20; A pulse width modulation generator 20 for generating a pulse for driving the motor 30 by receiving a speed command from the hardware controller 22; A pulse driver 21 for converting the pulse transmitted from the pulse width modulation generator 20 into a voltage amplification and a drive type recognizable by the servo drive, and transmitting the pulse driver 21; A position counter unit 23 which receives and stores the movement distance data from the microprocessor unit 200 to the destination, that is, the position command data, and passes the position command data to the hardware control unit 22; An encoder processing unit 24 having a function of receiving encoder pulses output from the pulse motor driver 28 and counting the number of inputs, and transferring a counter value to the function processing unit 16 by using an internal bus 27; Motor drive control device using a microprocessor, characterized in that it comprises a digital input signal input from the outside and the input and output control unit 25 for the function of the digital output signal for controlling external equipment. The method according to any one of claims 1 to 4, The hardware control unit 22 is a motor drive control device using a microprocessor, characterized in that configured to continuously accumulate by accepting a new command even during the motor control operation according to the command executed in the computer. In the control method of the servo and stepping motor drive control device which is inserted into the internal slot of the computer to output a pulse to control the motor and to control the position by various input signals required for the control, After the motor drive control device according to the present invention is mounted in a slot inside the computer, the computer power is applied and the control program is executed when the booting is completed. The first step shown in A second step of determining whether a user inputs a keyboard to execute motor control in a computer; A third step of constructing a control command according to an execution operation when there is a keyboard input of the user as a result of the determination of the second step; A fourth step of inputting a control command according to the execution operation to the control register; A fifth step of determining whether the motor drive control device is ready for pulse output before the execution command; As a result of the determination in the fifth step, if the pulse output preparation is normally completed, the pulse output execution command is transmitted to the motor drive control device, from which the motor drive control device starts outputting a pulse signal for controlling the motor. Step 6, The seventh step of displaying the number of pulses and the state value output from the motor drive control device on the screen; An eighth step of judging whether or not a pulse stop signal is input during the motor control execution operation; A ninth step of determining whether the number of pulses to the destination is equal to the number of pulses output so far if the pulse stop signal is not input as a result of the determination in the eighth step; As a result of the determination in the ninth step, if the number of pulses output so far matches the number of pulses to the destination, the pulse output is completed when the pulse output is completed by reaching the destination point. A control method of a motor drive control apparatus using a microprocessor, characterized in that it comprises a tenth step. The method of claim 6, As a result of the determination of the second step, if there is no keyboard input of the user, the method returns to the first step and waits until there is a keyboard input of the user. The method of claim 6, As a result of the determination of the fifth step, if the pulse output preparation is not completed normally, the control method of the motor drive control apparatus using a microprocessor. The method of claim 6, As a result of the determination in the eighth step, if the pulse stop signal is input, the motor drive control device stops generating the pulse. After that, in the tenth step, the result when the pulse output is abnormally terminated is displayed. The control method of the motor drive control device using a microprocessor, characterized in that the termination after. The method of claim 6, As a result of the determination of the ninth step, if the number of pulses output so far does not match the number of pulses to the destination, the process returns to the seventh step and returns to the seventh step as it has not arrived at the destination. Control method of motor drive control device.

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